CN110864682A - Unmanned aerial vehicle safety return route planning method - Google Patents
Unmanned aerial vehicle safety return route planning method Download PDFInfo
- Publication number
- CN110864682A CN110864682A CN201911180919.2A CN201911180919A CN110864682A CN 110864682 A CN110864682 A CN 110864682A CN 201911180919 A CN201911180919 A CN 201911180919A CN 110864682 A CN110864682 A CN 110864682A
- Authority
- CN
- China
- Prior art keywords
- angle
- unmanned aerial
- aerial vehicle
- route
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000003860 storage Methods 0.000 claims abstract description 11
- 238000004364 calculation method Methods 0.000 claims abstract description 6
- 229910002056 binary alloy Inorganic materials 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
The invention discloses a planning method for a safe return route of an unmanned aerial vehicle, which comprises the following steps: the method for planning the safe return route of the unmanned aerial vehicle comprises the steps of establishing a rectangular coordinate system, determining a route azimuth angle, searching an elevation digital map within an azimuth angle range, storing a mark and a corresponding angle value of the unmanned aerial vehicle, and automatically planning a safe route of the unmanned aerial vehicle, wherein an elevation lookup table is manufactured by a ground PC (personal computer) end before the unmanned aerial vehicle takes off according to corresponding parameters and is transmitted to the unmanned aerial vehicle for storage, and a safe route can be selected as a return route through calculation after the unmanned aerial vehicle loses connection, so that the problem that the unmanned aerial vehicle crashes due to the fact that the unmanned aerial vehicle cannot determine the ground elevation is solved; meanwhile, the problem that the unmanned aerial vehicle cannot store large-area elevation digital maps is solved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a planning method for a safe return route of an unmanned aerial vehicle.
Background
In recent years, the production and application of unmanned aerial vehicles are developed vigorously at home and abroad, and the unmanned aerial vehicles are applied more and more widely in various fields, such as surveying and mapping, monitoring, agricultural plant protection, traffic inspection and the like. The unmanned aerial vehicle system usually includes unmanned aerial vehicle and ground basic station, and its theory of operation is that the basic station passes through wireless link and unmanned aerial vehicle communication, and unmanned aerial vehicle takes place the airline for unmanned aerial vehicle before taking off, and unmanned aerial vehicle flight in-process need monitor unmanned aerial vehicle's state and send control command etc.. But due to current technology, the link between the base station and the drone may fail (e.g., electromagnetic interference, distance overrun, base station damage, etc.) while the drone is in an offline mode. All states of the unmanned aerial vehicle are unknown in the loss of connection mode, and the situation is dangerous. Consequently, most unmanned aerial vehicle producers all can design the follow-up action of unmanned aerial vehicle under the loss of connection mode, and current follow-up action mainly includes two kinds of modes: lost link return and in-situ hover.
The original circling is limited by the storage battery of the unmanned aerial vehicle, the circling time is short, the unmanned aerial vehicle can crash when the power supply is exhausted, and certain limitation is realized; therefore, most manufacturers can set that the unmanned aerial vehicle returns immediately after the unmanned aerial vehicle loses contact and exceeds a certain time, and the return route is a straight line of a connecting line between the unmanned aerial vehicle losing contact position and the flying starting point. Under this kind of condition, unmanned aerial vehicle does not know the height digital map on the route of returning a voyage, and the height that is greater than unmanned aerial vehicle flight when the high mountain on the route of returning a voyage or building promptly makes unmanned aerial vehicle striking high mountain or building, and then leads to unmanned aerial vehicle crash lightly, then endangers ground personal and property safety seriously.
In addition, because the computing resources of the unmanned aerial vehicle are limited, a large-area elevation digital map cannot be stored generally, because the large-area elevation digital map usually occupies a large amount of storage space, and accessing the elevation digital map consumes resources and computing power relatively.
Disclosure of Invention
The invention provides a method for planning a safe return route of an unmanned aerial vehicle, which aims to solve the technical problems that a height digital map in the return route of an unconnection unmanned aerial vehicle cannot be determined and the height digital map cannot be stored in a large area.
The technical scheme adopted by the invention is as follows: the safe return route planning method for the unmanned aerial vehicle comprises the following steps:
a, establishing a rectangular coordinate system: before the unmanned aerial vehicle takes off, planning a flying starting point, a flight line A and a flight line height on the ground PC end, and establishing a rectangular coordinate system by taking a plane where the flight line height is located as a reference plane and taking an orthographic projection of the flying starting point on the plane where the flight line height is located as an origin point P;
b, determining a lane azimuth angle, namely making an azimuth angle gamma in a rectangular coordinate system to ensure that two sides of the azimuth angle gamma form two included angles (α, β) with the positive direction of a y-axis within the range of the azimuth angle A, wherein α is less than β;
c, searching an elevation digital map within the azimuth angle range, namely selecting an angle increment delta, taking α as an initial angle, increasing the angle increment delta each time, then taking a new angle (α + N delta, N is the increment times and N is a natural number) as a direction vector, finding out an intersection point of the direction vector and the flight path A, then inquiring and recording the elevation digital map corresponding to a connecting line between the intersection point and an original point P, and repeatedly executing the step c until the elevation digital map corresponding to the direction vector of each angle increment delta within the azimuth angle gamma range of the flight path is obtained, wherein the range of the angle increment delta is more than 0 degree delta and less than gamma;
d unmanned plane stores the tag and the corresponding angle value: c, comparing the ground maximum elevation value corresponding to the direction vector of each angle increment delta acquired in the step c with the height of the air route A; if the elevation digital map of the direction vector of the angle value is larger than the height of the air route, marking as a danger; if the elevation digital map of the direction vector of the angle value is smaller than the height of the air route, marking as safe; transmitting the marks and the corresponding angle values of the marks to the unmanned aerial vehicle for storage;
e, automatically planning a safety path of the loss-of-connection unmanned aerial vehicle: after the unmanned aerial vehicle takes off and loses contact, the unmanned aerial vehicle obtains a current angle through calculation according to the original point P and the current position of the unmanned aerial vehicle, calculates an angle value closest to the current angle and searches a mark corresponding to the angle value; if the mark position is safe, the safety of the flight path corresponding to the azimuth angle is indicated, and the flight path can return along the flight path; and if the mark position is dangerous, calculating a new azimuth value again until the azimuth value which is closest to the advancing direction and is marked as safe is found, and automatically returning to the flying point by taking the connecting line of the point and the origin point P as a path.
The altitude digital map is the height of a ground building, the altitude digital map is stored at a ground PC end, a rectangular coordinate system is established according to a starting point P, a route A and the route height before the unmanned aerial vehicle takes off, the azimuth gamma of the route is made, and the route A is ensured to be in the range of the azimuth, so that the altitude values in the whole route range can be searched and compared; and by defining an angular increment δ; comparing the elevation digital maps corresponding to the angular values in the different angle increments delta through the PC terminal, marking the elevation digital maps, transmitting the marks and the angular values corresponding to the marks to the unmanned aerial vehicle for storage, and finishing the takeoff of the unmanned aerial vehicle after the transmission is finished. Compared with the traditional mode, the method and the system do not need to directly store a large number of elevation digital maps on the unmanned aerial vehicle, and solve the technical problem that the computing resources of the unmanned aerial vehicle are limited. After the unmanned aerial vehicle loses connection during takeoff, the unmanned aerial vehicle obtains a current azimuth angle through calculation according to an original point P and the current position of the unmanned aerial vehicle, calculates an angle value closest to the current azimuth angle and searches a mark corresponding to the angle value; if the mark position is safe, the safety of the flight path corresponding to the azimuth angle is indicated, and the flight path can return along the flight path; and if the mark position is dangerous, calculating a new azimuth value again until the azimuth value which is closest to the advancing direction and is marked as safe is found, and automatically returning to the flying point by taking the connecting line of the point and the origin point P as a path. Compared with the traditional mode of in-situ circling after the unmanned aerial vehicle loses connection, the unmanned aerial vehicle loss-of-connection route planning method can plan a route marked as safety for return voyage through the unmanned aerial vehicle loss-of-connection position, avoids the risk of crash caused by loss of a storage battery, and can also successfully avoid mountains or buildings on the return route.
Furthermore, in the step b, two sides of the azimuth angle gamma are tangent to the flight path, the α is the minimum azimuth angle, the minimum azimuth angle is the angle of the minimum angle formed by the line connecting the point and the origin (P) on the flight path and the forward angle of the y axis, the β is the maximum azimuth angle formed by the line connecting the point and the origin P on the flight path A and the forward angle of the y axis.
Further, in the step c, an intersection point of the direction vector of the angle increment δ and the route a is an intersection point of the farthest end of the route a away from the origin P. The flight path may be a back-and-forth curved path, so that the number of intersection points of the direction vector of the angle increment delta and the flight path is multiple, and in order to ensure that an elevation digital map in the flight path can be comprehensively detected and ensure the safe return distance of the unmanned aerial vehicle after the unmanned aerial vehicle is disconnected, the intersection point which is farthest away from a departure point is selected.
Further, in step c, the range of the angle increment δ is: delta is more than 0.1 degree and less than 1 degree. The suitable angle increment delta can be selected according to the computing power of different unmanned aerial vehicles, the large unmanned aerial vehicle with the strong computing power can select 0.1 degrees, and the altitude digital map corresponding to the direction vector can be accurately inquired, so that the return path is shorter or smaller, the small unmanned aerial vehicle with the weak computing power can select 1 degree, and the return path can be longer.
Further, the angle increment δ is: 0.5 degree.
Further, in the step d, a binary mode is adopted to mark the danger and the safety, the danger is marked as 1, and the safety is marked as 0. The reliability of the binary system is high, only two numbers of 0 and 1 are used in the binary system, errors are not easy to occur in transmission and processing, and therefore the reliability of return flight of the unmanned aerial vehicle can be guaranteed; meanwhile, the operation rule is simple, the operation rule of binary number is simple, the structure of the operator can be simplified, the operation speed is improved, the unmanned aerial vehicle can find the mark more quickly according to the angle value, the cruising ability of the unmanned aerial vehicle is guaranteed, and the situation that the unmanned aerial vehicle runs out of electric energy and is crashed is avoided.
Further, the marks and the corresponding angle values are made into an elevation lookup table:
table 1: elevation lookup table
| Marking | 0 | 0 | 1 | … | 0 | 0 |
| Angle value | α | α+δ | α+2*δ | … | α+N*δ | β |
In the table, N is the number of increments and N is a natural number.
The marks and the corresponding angle values are made into an elevation lookup table, so that the unmanned aerial vehicle can find the marks corresponding to the angle values more quickly, whether the return route is safe or not can be judged quickly, and the safe return of the unmanned aerial vehicle is guaranteed.
The invention has the beneficial effects that:
1. according to the safe return route planning method for the unmanned aerial vehicle, different angle values and corresponding marks are calculated through the ground PC terminal according to corresponding parameters before the unmanned aerial vehicle takes off, and the marks are stored in the marks and are stored in the unmanned aerial vehicle; meanwhile, the problem that the unmanned aerial vehicle cannot store large-area elevation digital maps is solved.
2. Two sides of the azimuth angle gamma are tangent to the air route, so that the elevation digital maps in all air routes can be recorded, the calculation of the elevation digital maps outside the air routes is avoided, a large amount of work is reduced, the work efficiency is improved, and the storage capacity of the unmanned aerial vehicle is reduced.
3. According to the invention, a binary system mode is adopted to mark danger and safety and produce an elevation lookup table, so that the reliability of return voyage of the unmanned aerial vehicle can be guaranteed; meanwhile, the operation rule is simple, the structure of the operator can be simplified, the operation speed can be improved, the unmanned aerial vehicle can find the mark more quickly according to the angle value, the cruising ability of the unmanned aerial vehicle is guaranteed, and the situation that the unmanned aerial vehicle runs out of electric energy and is crashed is avoided.
Drawings
Fig. 1 is a schematic structural diagram of the first embodiment.
Fig. 2 is a schematic structural diagram of the third embodiment.
Fig. 3 is a schematic view of the case of azimuth.
Fig. 4 is a schematic view of another case of azimuth.
Labeled as:
p, an origin; A. a route; B. starting a route; C. a course destination; delta, angle increment; gamma, azimuth.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The first embodiment is as follows:
as shown in fig. 1 and 2, the method for planning the safe return route of the unmanned aerial vehicle of the present invention includes the following steps:
a, establishing a rectangular coordinate system: before the unmanned aerial vehicle takes off, planning a flying starting point, a flight line A and a flight line height on the ground PC end, and establishing a rectangular coordinate system by taking a plane where the flight line height is located as a reference plane and taking an orthographic projection of the flying starting point on the plane where the flight line height is located as an origin point P;
b, determining a lane azimuth angle, namely making an azimuth angle gamma in a rectangular coordinate system to ensure that two sides of the azimuth angle gamma form two included angles (α, β) with the positive direction of a y-axis within the range of the azimuth angle A, wherein α is less than β;
c, searching an elevation digital map within the azimuth angle range, namely selecting an angle increment delta which is 0.5 degrees, taking α as an initial angle, increasing the angle increment delta each time, then taking a new angle (α + NxDelta, N is the increasing times and N is a natural number) as a direction vector, finding out an intersection point of the direction vector and the route A, then inquiring and recording the elevation digital map corresponding to a connecting line between the intersection point and an origin point P, and repeatedly executing the steps until the elevation digital map corresponding to the direction vector of each angle increment delta within the azimuth angle gamma of the route is obtained;
d unmanned plane stores the tag and the corresponding angle value: c, comparing the ground maximum elevation value corresponding to the direction vector of each angle increment delta acquired in the step c with the height of the air route A; if the elevation digital map of the direction vector of the angle value is larger than the height of the air route, marking as a danger; if the elevation digital map of the direction vector of the angle value is smaller than the height of the air route, marking as safe; transmitting the marks and the corresponding angle values of the marks to the unmanned aerial vehicle for storage;
e, automatically planning a safety path of the loss-of-connection unmanned aerial vehicle: after the unmanned aerial vehicle takes off and loses contact, the unmanned aerial vehicle obtains a current angle through calculation according to the original point P and the current position of the unmanned aerial vehicle, calculates an angle value closest to the current angle and searches a mark corresponding to the angle value; if the mark position is safe, the safety of the flight path corresponding to the azimuth angle is indicated, and the flight path can return along the flight path; and if the mark position is dangerous, calculating a new azimuth value again until the azimuth value which is closest to the advancing direction and is marked as safe is found, and automatically returning to the flying point by taking the connecting line of the point and the origin point P as a path.
The working principle is that the unmanned aerial vehicle loses connection at the point E after taking off, the unmanned aerial vehicle calculates an angle value α + Nxtheta closest to the current azimuth angle theta according to the original point P and the point E by calculating the azimuth angle theta of the PE, finds out a mark corresponding to the angle value, inquires to obtain the mark as a danger, and shows that a flight path corresponding to the angle value has a collision danger, the angle value α + (N +1) theta of the azimuth angle epsilon is recalculated in the advancing direction of the flight path of the unmanned aerial vehicle, finds out the mark corresponding to the angle value, inquires to obtain the mark as safe, the intersection point of the azimuth angle and the flight path is F, the PF is a safe return path, and the unmanned aerial vehicle automatically returns to the starting point along PY.
Example two:
as shown in fig. 1, 2 and 3, this embodiment is a further improvement on the first embodiment, in step b, two sides of the azimuth γ are tangent to the route, the α is a minimum azimuth, the minimum azimuth is an angle at which an angle between a line connecting a point on the route and an origin P and the y-axis forward direction is a minimum angle, the β is a maximum azimuth, and the maximum azimuth is an angle at which an angle between a line connecting a point on the route a and the origin P and the y-axis forward direction is a maximum angle.
The working principle is that a situation is shown in FIGS. 1 and 2, wherein the minimum azimuth α is an included angle between a connecting line of an origin P and a route starting point B and the positive direction of a y axis, and the maximum azimuth β is an included angle between a connecting line of the origin P and a route terminal point C and the positive direction of the y axis;
FIG. 3 shows another case, where the minimum azimuth α is the angle between the line connecting the origin P and the G point in the course and the positive direction of the y-axis, and the maximum azimuth β is the angle between the origin P and the positive direction of the H point in the course and the positive direction of the y-axis;
the two conditions can ensure that the elevation digital maps in all air routes are recorded, and simultaneously avoid calculating the elevation digital maps outside the air routes, thereby reducing a large amount of work, improving the work efficiency and reducing the storage capacity of the unmanned aerial vehicle.
Example three:
this embodiment is a further improvement on the first embodiment, in which in step c, the intersection point of the direction vector of the angle increment δ and the route a is the intersection point of the route a farthest from the origin P.
The working principle is that as shown in fig. 2, the flight path is a back-and-forth curved path, and when the angle is η, the direction vector of the angle has 5 intersections (D, D1, D2, D3 and D4) with the flight path, so that an intersection D4 which is farthest from a flying starting point is selected in order to ensure that an elevation digital map in the flight path can be comprehensively detected.
Example four:
in step d, the danger and the safety are marked in a binary manner, the danger is marked as 1, and the safety is marked as 0.
And making the marks and the corresponding angle values into an elevation lookup table:
table 1: elevation lookup table
| Marking | 0 | 0 | 1 | … | 0 | 0 |
| Angle value | α | α+δ | α+2*δ | … | α+N*δ | β |
In the table, N is the number of increments and N is a natural number.
The working principle is as follows: the reliability of the binary system is high, only two numbers of 0 and 1 are used in the binary system, errors are not easy to occur in transmission and processing, and therefore the reliability of return flight of the unmanned aerial vehicle can be guaranteed; meanwhile, the operation rule is simple, the operation rule of binary number is simple, the structure of the operator can be simplified, the operation speed is improved, the unmanned aerial vehicle can find the mark more quickly according to the angle value, the cruising ability of the unmanned aerial vehicle is guaranteed, and the situation that the unmanned aerial vehicle runs out of electric energy and is crashed is avoided. The marks and the corresponding angle values are made into an elevation lookup table, so that the unmanned aerial vehicle can find the marks corresponding to the angle values more quickly, whether the return route is safe or not can be judged quickly, and the safe return of the unmanned aerial vehicle is guaranteed.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The safe return route planning method for the unmanned aerial vehicle is characterized by comprising the following steps: the method comprises the following steps:
a, establishing a rectangular coordinate system: before the unmanned aerial vehicle takes off, planning a flying starting point, a flight line (A) and a flight line height on the ground PC end, and establishing a rectangular coordinate system by taking a plane where the flight line height is located as a reference plane and taking an orthographic projection of the flying starting point on the plane where the flight line height is located as an origin point (P);
b, determining the azimuth angle of the flight path, namely making an azimuth angle (gamma) in a rectangular coordinate system to ensure that two sides of the azimuth angle (gamma) form two included angles (α, β) with the positive direction of the y axis within the range of the azimuth angle (A), wherein α is less than β;
c, searching an elevation digital map within the azimuth angle range, namely selecting an angle increment (delta), increasing the angle increment (delta) each time by taking (α) as an initial angle, then taking a new angle (α + N delta, N is the increment times and N is a natural number) as a direction vector, finding out an intersection point of the direction vector and a flight path (A), then inquiring and recording the elevation digital map corresponding to a connecting line between the intersection point and the initial point (P), and repeatedly executing the step c until the elevation digital map corresponding to the direction vector of each angle increment (delta) within the azimuth angle (gamma) range of the flight path is obtained, wherein the range of the angle increment (delta) is more than 0 degree and less than gamma;
d unmanned plane stores the tag and the corresponding angle value: c, comparing the ground maximum elevation value corresponding to the direction vector of each angle increment (delta) acquired in the step c with the height of the air route (A); if the elevation digital map of the direction vector of the angle value is larger than the height of the air route, marking as a danger; if the elevation digital map of the direction vector of the angle value is smaller than the height of the air route, marking as safe; transmitting the marks and the corresponding angle values of the marks to the unmanned aerial vehicle for storage;
e, automatically planning a safety path of the loss-of-connection unmanned aerial vehicle: after the unmanned aerial vehicle takes off and loses contact, the unmanned aerial vehicle obtains a current angle through calculation according to an original point (P) and the current position of the unmanned aerial vehicle, calculates an angle value closest to the current angle and searches for a mark corresponding to the angle value; if the mark position is safe, the safety of the flight path corresponding to the azimuth angle is indicated, and the flight path can return along the flight path; and if the mark position is dangerous, calculating a new azimuth value again until the azimuth value which is closest to the advancing direction and is marked as safe is found, and automatically returning to the flying point by taking the connecting line of the point and the origin (P) as a path.
2. The method for planning the safe return route of the unmanned aerial vehicle as claimed in claim 1, wherein in the step b, two sides of the azimuth angle (γ) are tangent to the route, the α is a minimum azimuth angle, the minimum azimuth angle is an angle at which a line connecting a point on the route and an origin (P) and a y-axis positive direction form a minimum angle, the β is a maximum azimuth angle, and the maximum azimuth angle is an angle at which a line connecting the point on the route (A) and the origin (P) and the y-axis positive direction form a maximum angle.
3. The unmanned aerial vehicle safety return route planning method of claim 1, characterized in that: in the step c, the intersection point of the direction vector of the angle increment (delta) and the route (A) is the intersection point of the farthest end of the route (A) far away from the origin (P).
4. The unmanned aerial vehicle safety return route planning method of claim 1, characterized in that: in the step c, the range of the angle increment (delta) is as follows: delta is more than 0.1 degree and less than 1 degree.
5. The unmanned aerial vehicle safe return route planning method of claim 4, characterized in that: the angular increment (δ) is: 0.5 degree.
6. The unmanned aerial vehicle safety return route planning method of claim 1, characterized in that: in the step d, the danger and the safety are marked in a binary mode, the danger is marked as 1, and the safety is marked as 0.
7. The unmanned aerial vehicle safety return route planning method of claim 6, characterized in that: and making the marks and the corresponding angle values into an elevation lookup table and transmitting the elevation lookup table to the unmanned aerial vehicle for storage:
table 1: elevation lookup table
In the table, N is the number of increments and N is a natural number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911180919.2A CN110864682B (en) | 2019-11-27 | 2019-11-27 | Unmanned aerial vehicle safety return route planning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911180919.2A CN110864682B (en) | 2019-11-27 | 2019-11-27 | Unmanned aerial vehicle safety return route planning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110864682A true CN110864682A (en) | 2020-03-06 |
| CN110864682B CN110864682B (en) | 2023-04-07 |
Family
ID=69656536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911180919.2A Active CN110864682B (en) | 2019-11-27 | 2019-11-27 | Unmanned aerial vehicle safety return route planning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110864682B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112083736A (en) * | 2020-08-11 | 2020-12-15 | 广东电网有限责任公司电力科学研究院 | Unmanned aerial vehicle tracking method |
| CN112564767A (en) * | 2020-11-30 | 2021-03-26 | 北京邮电大学 | Continuous coverage method based on self-organizing optimization cooperation in unmanned aerial vehicle network |
| US20230106925A1 (en) * | 2021-10-06 | 2023-04-06 | Motorola Mobility Llc | Mobile device navigation to a location having communication access to/connectivity with a wireless network |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103927418A (en) * | 2014-04-12 | 2014-07-16 | 北京工业大学 | Method for manufacturing meshed drainage channels of urban road drains on basis of DEM (digital elevation model) |
| CN104932529A (en) * | 2015-06-05 | 2015-09-23 | 北京中科遥数信息技术有限公司 | Unmanned plane autonomous flight cloud control system |
| CN105487554A (en) * | 2016-01-12 | 2016-04-13 | 武汉顶翔智控科技有限公司 | Multi-rotor unmanned aerial vehicle automatic homeward flight path planning algorithm |
| US20160309337A1 (en) * | 2015-04-14 | 2016-10-20 | ETAK Systems, LLC | Wireless coverage testing systems and methods with unmanned aerial vehicles |
| CN106123851A (en) * | 2016-08-03 | 2016-11-16 | 中国十七冶集团有限公司 | A kind of subgrade cross section measuring method based on unmanned plane |
| CN106781707A (en) * | 2016-12-21 | 2017-05-31 | 华北计算技术研究所（中国电子科技集团公司第十五研究所） | A kind of path planning method for low latitude middle and long distance ferry flight |
| WO2017211029A1 (en) * | 2016-06-07 | 2017-12-14 | 南方科技大学 | Method and device for planning flight path for unmanned aerial vehicle |
| CN207164594U (en) * | 2017-09-12 | 2018-03-30 | 成都纵横自动化技术有限公司 | A kind of flying control equipment based on off-line digital altitude data |
| CN108332753A (en) * | 2018-01-30 | 2018-07-27 | 北京航空航天大学 | A kind of unmanned plane electric inspection process paths planning method |
| WO2018141613A1 (en) * | 2017-02-02 | 2018-08-09 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Positioning of unmanned aerial vehicles using millimeter-wave beam infrastructure |
| CN109375636A (en) * | 2018-12-13 | 2019-02-22 | 广州极飞科技有限公司 | Generation method, device, unmanned plane and the storage medium in unmanned plane course line |
| WO2019084811A1 (en) * | 2017-10-31 | 2019-05-09 | 深圳市大疆创新科技有限公司 | Position setting mechanism, unmanned aerial vehicle base station, and unmanned aerial vehicle system |
| JP2019075075A (en) * | 2018-03-28 | 2019-05-16 | 株式会社自律制御システム研究所 | System and program for setting flight plan route of unmanned aircraft |
| CN109885097A (en) * | 2019-04-11 | 2019-06-14 | 株洲时代电子技术有限公司 | A kind of bridge outer face inspection flight course planning method |
| CN110162090A (en) * | 2019-06-07 | 2019-08-23 | 河南华翼智鹰无人机科技有限公司 | A kind of unmanned plane flight course planning system and method based on GIS data |
-
2019
- 2019-11-27 CN CN201911180919.2A patent/CN110864682B/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103927418A (en) * | 2014-04-12 | 2014-07-16 | 北京工业大学 | Method for manufacturing meshed drainage channels of urban road drains on basis of DEM (digital elevation model) |
| US20160309337A1 (en) * | 2015-04-14 | 2016-10-20 | ETAK Systems, LLC | Wireless coverage testing systems and methods with unmanned aerial vehicles |
| CN104932529A (en) * | 2015-06-05 | 2015-09-23 | 北京中科遥数信息技术有限公司 | Unmanned plane autonomous flight cloud control system |
| CN105487554A (en) * | 2016-01-12 | 2016-04-13 | 武汉顶翔智控科技有限公司 | Multi-rotor unmanned aerial vehicle automatic homeward flight path planning algorithm |
| WO2017211029A1 (en) * | 2016-06-07 | 2017-12-14 | 南方科技大学 | Method and device for planning flight path for unmanned aerial vehicle |
| CN106123851A (en) * | 2016-08-03 | 2016-11-16 | 中国十七冶集团有限公司 | A kind of subgrade cross section measuring method based on unmanned plane |
| CN106781707A (en) * | 2016-12-21 | 2017-05-31 | 华北计算技术研究所（中国电子科技集团公司第十五研究所） | A kind of path planning method for low latitude middle and long distance ferry flight |
| WO2018141613A1 (en) * | 2017-02-02 | 2018-08-09 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Positioning of unmanned aerial vehicles using millimeter-wave beam infrastructure |
| US20190354117A1 (en) * | 2017-02-02 | 2019-11-21 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. | Positioning of Unmanned Aerial Vehicles using Millimeter-Wave Beam Infrastructure |
| CN207164594U (en) * | 2017-09-12 | 2018-03-30 | 成都纵横自动化技术有限公司 | A kind of flying control equipment based on off-line digital altitude data |
| WO2019084811A1 (en) * | 2017-10-31 | 2019-05-09 | 深圳市大疆创新科技有限公司 | Position setting mechanism, unmanned aerial vehicle base station, and unmanned aerial vehicle system |
| CN108332753A (en) * | 2018-01-30 | 2018-07-27 | 北京航空航天大学 | A kind of unmanned plane electric inspection process paths planning method |
| JP2019075075A (en) * | 2018-03-28 | 2019-05-16 | 株式会社自律制御システム研究所 | System and program for setting flight plan route of unmanned aircraft |
| CN109375636A (en) * | 2018-12-13 | 2019-02-22 | 广州极飞科技有限公司 | Generation method, device, unmanned plane and the storage medium in unmanned plane course line |
| CN109885097A (en) * | 2019-04-11 | 2019-06-14 | 株洲时代电子技术有限公司 | A kind of bridge outer face inspection flight course planning method |
| CN110162090A (en) * | 2019-06-07 | 2019-08-23 | 河南华翼智鹰无人机科技有限公司 | A kind of unmanned plane flight course planning system and method based on GIS data |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112083736A (en) * | 2020-08-11 | 2020-12-15 | 广东电网有限责任公司电力科学研究院 | Unmanned aerial vehicle tracking method |
| CN112083736B (en) * | 2020-08-11 | 2023-07-25 | 广东电网有限责任公司电力科学研究院 | Unmanned aerial vehicle tracking method |
| CN112564767A (en) * | 2020-11-30 | 2021-03-26 | 北京邮电大学 | Continuous coverage method based on self-organizing optimization cooperation in unmanned aerial vehicle network |
| CN112564767B (en) * | 2020-11-30 | 2021-09-21 | 北京邮电大学 | Continuous coverage method based on self-organizing optimization cooperation in unmanned aerial vehicle network |
| US20230106925A1 (en) * | 2021-10-06 | 2023-04-06 | Motorola Mobility Llc | Mobile device navigation to a location having communication access to/connectivity with a wireless network |
| US12001220B2 (en) * | 2021-10-06 | 2024-06-04 | Motorola Mobility Llc | Mobile device navigation to a location having communication access to or connectivity with a wireless network |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110864682B (en) | 2023-04-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110864682B (en) | Unmanned aerial vehicle safety return route planning method | |
| EP3467436B1 (en) | Unmanned aerial vehicle, data processing device, path selection device, processing method and processing program | |
| CN106774392A (en) | The dynamic programming method of flight path during a kind of power circuit polling | |
| CN106292698B (en) | Accurate operation method and system for plant protection unmanned aerial vehicle | |
| CN101788822B (en) | Method for lateral control of unmanned aerial vehicle | |
| CN205247213U (en) | Hi -Fix cruise system of use on unmanned aerial vehicle | |
| CN106597369B (en) | A kind of control method of unmanned plane, control platform, control system | |
| CN109615936A (en) | Flying nonstop in onboard flight management system and flies nonstop to method at Trajectory Prediction method | |
| CN104850134A (en) | High-precision autonomous obstacle-avoiding flying method for unmanned plane | |
| CN110221621B (en) | Unmanned aerial vehicle, and method, device and storage medium for planning flight area of unmanned aerial vehicle | |
| CN105513434A (en) | Unmanned plane flight control system and control method thereof | |
| CN110888452B (en) | Obstacle avoidance method for autonomous flight of unmanned aerial vehicle power inspection | |
| CN105676856A (en) | Interaction method, interaction apparatus, and interaction system for unmanned aerial vehicle | |
| CN105468023A (en) | Unmanned aerial vehicle control method, device and system | |
| CN113763755A (en) | Three-dimensional warning fence manufacturing method, air route planning method and flight adjusting method | |
| CN113359786A (en) | Multi-rotor unmanned aerial vehicle accurate landing guiding method integrating flying heights | |
| CN111305859A (en) | Automatic shield tunneling machine guiding system and method based on binocular vision | |
| CN113504785A (en) | Autonomous adjustment method for flight attitude of unmanned aerial vehicle | |
| CN117193377A (en) | Unmanned aerial vehicle flight time optimal real-time track optimization method capable of ensuring convergence | |
| CN205405925U (en) | Unmanned aerial vehicle air traffic control system | |
| CN205427178U (en) | A positioning system for accurate navigation of unmanned aerial vehicle | |
| KR102568956B1 (en) | Collision prevention method of air mobility | |
| CN205353777U (en) | Passive unmanned vehicles , initiative unmanned vehicles and unmanned vehicles system | |
| CN205608524U (en) | Unmanned vehicles's information and communication server and patrol unmanned vehicles | |
| CN205353778U (en) | Passive unmanned vehicles , initiative unmanned vehicles and unmanned vehicles system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 7 / F, area a, building 6, No. 200, Tianfu 5th Street, high tech Zone, Chengdu, Sichuan 610000 Patentee after: CHENGDU JOUAV AUTOMATION TECHNOLOGY Co.,Ltd. Country or region after: China Address before: 610000 room 801-805, 8th floor, block a, building 3, No. 200, Tianfu Fifth Street, Chengdu hi tech Zone, China (Sichuan) pilot Free Trade Zone, Chengdu, Sichuan Patentee before: CHENGDU JOUAV AUTOMATION TECHNOLOGY Co.,Ltd. Country or region before: China |